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Wireless Modular Control Hardware Architecture for Hybrid Mechanism Mobile Robot

[+] Author Affiliations
Pinhas Ben-Tzvi

George Washington University, Washington, DC

Paper No. DETC2009-86351, pp. 675-680; 6 pages
doi:10.1115/DETC2009-86351
From:
  • ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B
  • San Diego, California, USA, August 30–September 2, 2009
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4904-0 | eISBN: 978-0-7918-3856-3
  • Copyright © 2009 by ASME

abstract

This paper presents a new generalized control hardware architecture based on embedded on-board wireless communication network between robot’s links and modules such as the actuators and sensors. This approach results in modular control hardware architecture since no cable connections are used between the actuators and sensors in each of a given mobile robot subsystems (links). The effectiveness of this approach is experimentally demonstrated and validated by implementing it with a hybrid mobile robot mechanism as a case study. The hybrid mobile robot mechanism integrates the locomotion mechanism and manipulator arm mechanism as one entity to support both locomotion and manipulation simultaneously and interchangeably.

Copyright © 2009 by ASME

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